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<div class="title">approximate_voxel_grid.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2009, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * $Id: voxel_grid.h 1374 2011-06-19 02:29:56Z bouffa $</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_APPROXIMATE_VOXEL_GRID_MAP_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/boost.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/filter.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_eigen_point_functor.html">   48</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html">xNdCopyEigenPointFunctor</a></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  {</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">traits::POD&lt;PointT&gt;::type</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <a class="code" href="structpcl_1_1x_nd_copy_eigen_point_functor.html">xNdCopyEigenPointFunctor</a> (<span class="keyword">const</span> Eigen::VectorXf &amp;p1, <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p2)</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      : p1_ (p1),</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;        p2_ (<span class="keyword">reinterpret_cast&lt;</span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;<span class="keyword">&gt;</span>(p2)),</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        f_idx_ (0) { }</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160; </div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> operator() ()</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="comment">//boost::fusion::at_key&lt;Key&gt; (p2_) = p1_[f_idx_++];</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointT, Key&gt;::type</a> T;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span>uint8_t*<span class="keyword">&gt;</span>(&amp;p2_) + <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointT, Key&gt;::value</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      *<span class="keyword">reinterpret_cast&lt;</span>T*<span class="keyword">&gt;</span>(data_ptr) = <span class="keyword">static_cast&lt;</span>T<span class="keyword">&gt;</span> (p1_[f_idx_++]);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">const</span> Eigen::VectorXf &amp;p1_;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a> &amp;p2_;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keywordtype">int</span> f_idx_;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  };</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00073"></a><span class="lineno"><a class="line" href="structpcl_1_1x_nd_copy_point_eigen_functor.html">   73</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html">xNdCopyPointEigenFunctor</a></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">traits::POD&lt;PointT&gt;::type</a> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <a class="code" href="structpcl_1_1x_nd_copy_point_eigen_functor.html">xNdCopyPointEigenFunctor</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &amp;p1, Eigen::VectorXf &amp;p2)</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      : p1_ (<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a>&amp;<span class="keyword">&gt;</span>(p1)), p2_ (p2), f_idx_ (0) { }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160; </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Key&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span> operator() ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="comment">//p2_[f_idx_++] = boost::fusion::at_key&lt;Key&gt; (p1_);</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype&lt;PointT, Key&gt;::type</a> T;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">const</span> uint8_t* data_ptr = <span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>uint8_t*<span class="keyword">&gt;</span>(&amp;p1_) + <a class="code" href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset&lt;PointT, Key&gt;::value</a>;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      p2_[f_idx_++] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (*<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(data_ptr));</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;      <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">Pod</a> &amp;p1_;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      Eigen::VectorXf &amp;p2_;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      <span class="keywordtype">int</span> f_idx_;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  };</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html">  100</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;PointT&gt;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::filter_name_</a>;</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::getClassName</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::input_</a>;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keyword">using</span> <a class="code" href="classpcl_1_1_filter.html">Filter&lt;PointT&gt;::indices_</a>;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Filter&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::Ptr PointCloudPtr;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloud::ConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">  112</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a> () : ix (), iy (), iz (), count (0), centroid () {}</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keywordtype">int</span> ix, iy, iz;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keywordtype">int</span> count;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        Eigen::VectorXf centroid;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;      };</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; ApproximateVoxelGrid&lt;PointT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const ApproximateVoxelGrid&lt;PointT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a3716bd2153c17c4935c54f414ac30a74">  127</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a3716bd2153c17c4935c54f414ac30a74">ApproximateVoxelGrid</a> () : </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        pcl::<a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (),</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> (Eigen::Vector3f::Ones ()),</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> (Eigen::Array3f::Ones ()),</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> (true), <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a> (512),</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> (new <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a>[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>])</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;        <a class="code" href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">filter_name_</a> = <span class="stringliteral">&quot;ApproximateVoxelGrid&quot;</span>;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;      }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057">  140</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057">ApproximateVoxelGrid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> &amp;src) : </div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        pcl::<a class="code" href="classpcl_1_1_filter.html">Filter</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&gt; (),</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>),</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>),</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>), </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a> (src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>),</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> ()</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      {</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> = <span class="keyword">new</span> <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a>[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>];</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>; i++)</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;          <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i] = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i];</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a2110e9946d7083b1e79621470cf0c594">  156</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a2110e9946d7083b1e79621470cf0c594">~ApproximateVoxelGrid</a> ()</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keyword">delete</span> [] <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160; </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a>&amp; </div>
<div class="line"><a name="l00166"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b">  166</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b">operator = </a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html">ApproximateVoxelGrid</a> &amp;src)</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      {</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a> = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a> = <span class="keyword">new</span> <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a>[<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>];</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>; i++)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;          <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i] = src.<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>[i];</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        return (*<span class="keyword">this</span>);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">  182</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">setLeafSize</a> (<span class="keyword">const</span> Eigen::Vector3f &amp;leaf_size) </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      { </div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a> = leaf_size; </div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a> = Eigen::Array3f::Ones () / <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>.array ();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      }</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176">  194</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176">setLeafSize</a> (<span class="keywordtype">float</span> lx, <span class="keywordtype">float</span> ly, <span class="keywordtype">float</span> lz)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">setLeafSize</a> (Eigen::Vector3f (lx, ly, lz));</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      <span class="keyword">inline</span> Eigen::Vector3f </div>
<div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#af749fb43dc831acef36f74460c5b40f9">  201</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#af749fb43dc831acef36f74460c5b40f9">getLeafSize</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>); }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d">  207</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d">setDownsampleAllData</a> (<span class="keywordtype">bool</span> downsample) { <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a> = downsample; }</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#ae1fe6fd20974c318bb2fcf7b80b2aeee">  213</a></span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ae1fe6fd20974c318bb2fcf7b80b2aeee">getDownsampleAllData</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>); }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00217"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">  217</a></span>&#160;      Eigen::Vector3f <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">leaf_size_</a>;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">  220</a></span>&#160;      Eigen::Array3f <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">inverse_leaf_size_</a>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">  223</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">downsample_all_data_</a>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">  226</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">histsize_</a>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno"><a class="line" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">  229</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a>* <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">history_</a>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#a777b14cbe6856dadb57afcdc84ad9251">applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      <a class="code" href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">flush</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output, <span class="keywordtype">size_t</span> op, <a class="code" href="structpcl_1_1_approximate_voxel_grid_1_1he.html">he</a> *hhe, <span class="keywordtype">int</span> rgba_index, <span class="keywordtype">int</span> centroid_size);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  };</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;}</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;<span class="preprocessor">#ifdef PCL_NO_PRECOMPILE</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/impl/approximate_voxel_grid.hpp&gt;</span></div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_FILTERS_VOXEL_GRID_MAP_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html">pcl::ApproximateVoxelGrid</a></div><div class="ttdoc">ApproximateVoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the...</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a05075aad249c90710ae39458047c7400"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a05075aad249c90710ae39458047c7400">pcl::ApproximateVoxelGrid::downsample_all_data_</a></div><div class="ttdeci">bool downsample_all_data_</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a0fc9ecc4b90b34964c37fd91323533de"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a0fc9ecc4b90b34964c37fd91323533de">pcl::ApproximateVoxelGrid::inverse_leaf_size_</a></div><div class="ttdeci">Eigen::Array3f inverse_leaf_size_</div><div class="ttdoc">Compute 1/leaf_size_ to avoid division later</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:220</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a2110e9946d7083b1e79621470cf0c594"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a2110e9946d7083b1e79621470cf0c594">pcl::ApproximateVoxelGrid::~ApproximateVoxelGrid</a></div><div class="ttdeci">~ApproximateVoxelGrid()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:156</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a3716bd2153c17c4935c54f414ac30a74"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a3716bd2153c17c4935c54f414ac30a74">pcl::ApproximateVoxelGrid::ApproximateVoxelGrid</a></div><div class="ttdeci">ApproximateVoxelGrid()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5727d3f9977e3201f5d5fb8b639d295d"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5727d3f9977e3201f5d5fb8b639d295d">pcl::ApproximateVoxelGrid::leaf_size_</a></div><div class="ttdeci">Eigen::Vector3f leaf_size_</div><div class="ttdoc">The size of a leaf.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:217</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a5e746a51143ffff19922eb5251016811"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a5e746a51143ffff19922eb5251016811">pcl::ApproximateVoxelGrid::history_</a></div><div class="ttdeci">struct he * history_</div><div class="ttdoc">history buffer</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:229</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a777b14cbe6856dadb57afcdc84ad9251"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a777b14cbe6856dadb57afcdc84ad9251">pcl::ApproximateVoxelGrid::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Downsample a Point Cloud using a voxelized grid approach</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.hpp:65</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a7ec0980b82d20e95112d9c0525602b0c"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a7ec0980b82d20e95112d9c0525602b0c">pcl::ApproximateVoxelGrid::histsize_</a></div><div class="ttdeci">size_t histsize_</div><div class="ttdoc">history buffer size, power of 2</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:226</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a8652def01fa6f7ebebcca2ba93297176"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a8652def01fa6f7ebebcca2ba93297176">pcl::ApproximateVoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(float lx, float ly, float lz)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a8f6c3a90a2ec8b979d833181374bdd0b"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a8f6c3a90a2ec8b979d833181374bdd0b">pcl::ApproximateVoxelGrid::operator=</a></div><div class="ttdeci">ApproximateVoxelGrid &amp; operator=(const ApproximateVoxelGrid &amp;src)</div><div class="ttdoc">Copy operator.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_a9bf297ac71552e605028a065b6caa057"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#a9bf297ac71552e605028a065b6caa057">pcl::ApproximateVoxelGrid::ApproximateVoxelGrid</a></div><div class="ttdeci">ApproximateVoxelGrid(const ApproximateVoxelGrid &amp;src)</div><div class="ttdoc">Copy constructor.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:140</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ac7949567adf58e2b5b1c79ce05c79c8d"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ac7949567adf58e2b5b1c79ce05c79c8d">pcl::ApproximateVoxelGrid::setDownsampleAllData</a></div><div class="ttdeci">void setDownsampleAllData(bool downsample)</div><div class="ttdoc">Set to true if all fields need to be downsampled, or false if just XYZ.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:207</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ad97480e7b074ebfb12ab133cb055b880"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ad97480e7b074ebfb12ab133cb055b880">pcl::ApproximateVoxelGrid::flush</a></div><div class="ttdeci">void flush(PointCloud &amp;output, size_t op, he *hhe, int rgba_index, int centroid_size)</div><div class="ttdoc">Write a single point from the hash to the output cloud</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ae1fe6fd20974c318bb2fcf7b80b2aeee"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ae1fe6fd20974c318bb2fcf7b80b2aeee">pcl::ApproximateVoxelGrid::getDownsampleAllData</a></div><div class="ttdeci">bool getDownsampleAllData() const</div><div class="ttdoc">Get the state of the internal downsampling parameter (true if all fields need to be downsampled,...</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:213</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_ae4e17e9af474944f7bfdc3fbd60da1d9"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#ae4e17e9af474944f7bfdc3fbd60da1d9">pcl::ApproximateVoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector3f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:182</div></div>
<div class="ttc" id="aclasspcl_1_1_approximate_voxel_grid_html_af749fb43dc831acef36f74460c5b40f9"><div class="ttname"><a href="classpcl_1_1_approximate_voxel_grid.html#af749fb43dc831acef36f74460c5b40f9">pcl::ApproximateVoxelGrid::getLeafSize</a></div><div class="ttdeci">Eigen::Vector3f getLeafSize() const</div><div class="ttdoc">Get the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:201</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html"><div class="ttname"><a href="classpcl_1_1_filter.html">pcl::Filter</a></div><div class="ttdoc">Filter represents the base filter class. All filters must inherit from this interface.</div><div class="ttdef"><b>Definition:</b> filter.h:85</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_ad700c7ab56dc82ad8811b87e9f793751"><div class="ttname"><a href="classpcl_1_1_filter.html#ad700c7ab56dc82ad8811b87e9f793751">pcl::Filter::filter_name_</a></div><div class="ttdeci">std::string filter_name_</div><div class="ttdoc">The filter name.</div><div class="ttdef"><b>Definition:</b> filter.h:166</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_approximate_voxel_grid_1_1he_html"><div class="ttname"><a href="structpcl_1_1_approximate_voxel_grid_1_1he.html">pcl::ApproximateVoxelGrid::he</a></div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:113</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1datatype_html"><div class="ttname"><a href="structpcl_1_1traits_1_1datatype.html">pcl::traits::datatype</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:163</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1offset_html"><div class="ttname"><a href="structpcl_1_1traits_1_1offset.html">pcl::traits::offset</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:151</div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_eigen_point_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_eigen_point_functor.html">pcl::xNdCopyEigenPointFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:49</div></div>
<div class="ttc" id="astructpcl_1_1x_nd_copy_point_eigen_functor_html"><div class="ttname"><a href="structpcl_1_1x_nd_copy_point_eigen_functor.html">pcl::xNdCopyPointEigenFunctor</a></div><div class="ttdoc">Helper functor structure for copying data between an Eigen::VectorXf and a PointT.</div><div class="ttdef"><b>Definition:</b> approximate_voxel_grid.h:74</div></div>
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